base/main.cc

   1 /*
   2 This file is part of I am car.
   3
   4 I am car is nree software: you can redistribute it and/or modify
   5 it under the terms of the GNU General Public License as published by
   6 the Free Software Foundation, either version 3 of the License, or
   7 (at your option) any later version.
   8
   9 I am car is distributed in the hope that it will be useful,
  10 but WITHOUT ANY WARRANTY; without even the implied warranty of
  11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12 GNU General Public License for more details.
  13
  14 You should have received a copy of the GNU General Public License
  15 along with I am car. If not, see <http://www.gnu.org/licenses/>.
  16 */
  17
  18 #include <algorithm>
  19 #include <chrono>
  20 #include <iostream>
  21 #include <jsoncpp/json/json.h>
  22 #include <pthread.h>
  23 #include <signal.h>
  24 #include <unistd.h>
  25 #include "compile.h"
  26 #include "obstacle.h"
  27 #include "rrtplanner.h"
  28 #include "slotplanner.h"
  29 // OpenGL
  30 #include <GL/gl.h>
  31 #include <GL/glu.h>
  32 #include <SDL2/SDL.h>
  33
  34 // debug
  35 //#define JSONLOGEDGES
  36 //#define JSONLOGSAMPLES
  37
  38 // choose
  39 //#define USE_INTERRUPT
  40 // or
  41 //#define USE_TMAX
  42 // or
  43 //#define USE_LOADF
  44 // or
  45 #define USE_PTHREAD
  46
  47 #ifdef USE_INTERRUPT
  48         #define USE_GL
  49 #endif
  50
  51 std::chrono::high_resolution_clock::time_point TSTART_;
  52 std::chrono::high_resolution_clock::time_point TEND_;
  53 void TSTART() {TSTART_ = std::chrono::high_resolution_clock::now();}
  54 void TEND() {TEND_ = std::chrono::high_resolution_clock::now();}
  55 void TPRINT(const char *what) {
  56         std::chrono::duration<float> DT_;
  57         DT_ = std::chrono::duration_cast<std::chrono::duration<float>>(
  58                 TEND_ - TSTART_
  59         );
  60         std::cerr << what << ": " << DT_.count() << std::endl;
  61 }
  62
  63 bool run_planner = true;
  64
  65 SDL_Window* gw = NULL;
  66 SDL_GLContext gc;
  67
  68 bool init();
  69 bool initGL();
  70
  71 void hint(int)
  72 {
  73         run_planner = false;
  74 }
  75
  76 #ifdef USE_PTHREAD
  77 struct next_arg {
  78         bool *gf;
  79         T2 *p;
  80 };
  81
  82 void *next_run(void *arg)
  83 {
  84         struct next_arg *na = (struct next_arg *) arg;
  85         T2 *lp = (T2 *) na->p;
  86         bool *gf = na->gf;
  87         while (!*gf && lp->elapsed() < TMAX) {
  88                 if (lp->next())
  89                         *gf = true;
  90                 lp->tend();
  91         }
  92         pthread_exit(NULL);
  93         return NULL;
  94 }
  95 #endif
  96
  97 int main()
  98 {
  99 #ifdef USE_GL
 100         init();
 101 #endif
 102
 103         Json::Value jvi; // JSON input
 104         Json::Value jvo; // JSON output
 105         unsigned int i = 0;
 106         unsigned int j = 0;
 107         std::cin >> jvi;
 108         std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
 109
 110         PLANNER p(
 111                         new RRTNode(
 112                                 jvi["init"][0].asFloat(),
 113                                 jvi["init"][1].asFloat(),
 114                                 jvi["init"][2].asFloat()),
 115                         new RRTNode(
 116                                 jvi["goal"][0].asFloat(),
 117                                 jvi["goal"][1].asFloat(),
 118                                 jvi["goal"][2].asFloat()));
 119         std::vector<CircleObstacle> co;
 120         std::vector<SegmentObstacle> so;
 121         for (auto o: jvi["obst"]) {
 122                 if (o["circle"] != Json::nullValue) {
 123                         co.push_back(CircleObstacle(
 124                                                 o["circle"][0].asFloat(),
 125                                                 o["circle"][1].asFloat(),
 126                                                 o["circle"][2].asFloat()));
 127                 }
 128                 if (o["segment"] != Json::nullValue) {
 129                         so.push_back(SegmentObstacle(
 130                                 new RRTNode(
 131                                         o["segment"][0][0].asFloat(),
 132                                         o["segment"][0][1].asFloat(),
 133                                         0),
 134                                 new RRTNode(
 135                                         o["segment"][1][0].asFloat(),
 136                                         o["segment"][1][1].asFloat(),
 137                                         0)));
 138                         p.frame().add_bnode(so.back().init());
 139                 }
 140         }
 141         p.link_obstacles(&co, &so);
 142         p.ocost(p.root());
 143         p.ocost(p.goal());
 144
 145         ParallelSlot ps = ParallelSlot();
 146         for (auto xy: jvi["slot"]["polygon"]) {
 147                 ps.slot().add_bnode(new RRTNode(
 148                         xy[0].asFloat(),
 149                         xy[1].asFloat()
 150                 ));
 151         }
 152
 153 #ifdef USE_LOADF
 154         std::vector<RRTNode *> steered;
 155         for (auto jn: jvi["traj"][0]) {
 156                 steered.push_back(new RRTNode(
 157                                         jn[0].asFloat(),
 158                                         jn[1].asFloat(),
 159                                         jn[2].asFloat(),
 160                                         jn[3].asFloat(),
 161                                         jn[4].asFloat()));
 162         }
 163         std::reverse(steered.begin(), steered.end());
 164         RRTNode *pn = p.root();
 165         for (auto n: steered) {
 166                 if (IS_NEAR(pn, n))
 167                         continue;
 168                 pn->add_child(n, p.cost(pn, n));
 169                 pn = n;
 170                 p.glplot();
 171         }
 172         pn->add_child(p.goal(), p.cost(pn, p.goal()));
 173         p.goal_found(true);
 174         p.tlog(p.findt());
 175         if (p.opt_path()) {
 176                 p.tlog(p.findt());
 177                 p.glplot();
 178         }
 179         p.glplot();
 180         sleep(2);
 181 #elif defined USE_INTERRUPT
 182         signal(SIGINT, hint);
 183         signal(SIGTERM, hint);
 184         p.tstart();
 185         while (run_planner) {
 186                 p.next();
 187                 p.tend();
 188                 if (p.opt_path())
 189                         p.tlog(p.findt());
 190                 p.glplot();
 191         }
 192 #elif defined USE_TMAX
 193         p.tstart();
 194         p.tend();
 195         while (!p.goal_found() && p.elapsed() < TMAX) {
 196                 p.next();
 197                 p.tend();
 198                 if (p.opt_path())
 199                         p.tlog(p.findt());
 200         }
 201 #elif defined USE_PTHREAD
 202         bool gf = false;
 203         RRTNode *ron = nullptr;
 204         RRTNode *gon = nullptr;
 205         float mc = 9999;
 206         pthread_t rt; // root thread
 207         pthread_t gt; // goal thread
 208         pthread_t ct; // connect thread
 209
 210         struct next_arg ra;
 211         ra.gf = &gf;
 212         ra.p = &p.p_root_;
 213
 214         struct next_arg ga;
 215         ga.gf = &gf;
 216         ga.p = &p.p_goal_;
 217
 218         p.tstart();
 219         p.p_root_.tstart();
 220         p.p_goal_.tstart();
 221         pthread_create(&rt, NULL, &next_run, (void *) &ra);
 222         pthread_create(&gt, NULL, &next_run, (void *) &ga);
 223         int tol = 0;
 224         int ndl = 0;
 225         bool ndone = true;
 226         while (!gf && p.elapsed() < TMAX &&
 227                         p.p_root_.nodes().size() < NOFNODES &&
 228                         p.p_goal_.nodes().size() < NOFNODES) {
 229                 // overlap trees
 230                 ndone = true;
 231                 for (int i = 0; i < IXSIZE; i++) {
 232                 for (int j = 0; j < IYSIZE; j++) {
 233                         if (p.p_root_.ixy_[i][j].changed() &&
 234                                         p.p_goal_.ixy_[i][j].changed()) {
 235 ndone = false;
 236 for (auto rn: p.p_root_.ixy_[i][j].nodes()) {
 237 for (auto gn: p.p_goal_.ixy_[i][j].nodes()) {
 238         if (rn->ccost() + gn->ccost() < mc &&
 239                         IS_NEAR(rn, gn)) {
 240                 gf = true;
 241                 p.goal_found(true);
 242                 ron = rn;
 243                 gon = gn;
 244                 mc = rn->ccost() + gn->ccost();
 245         }
 246 }}
 247                         }
 248                         tol++;
 249                         if (ndone)
 250                                 ndl++;
 251                         p.tend();
 252                         if (p.elapsed() >= TMAX)
 253                                 goto escapeloop;
 254                 }}
 255                 // end of overlap trees
 256                 p.tend();
 257         }
 258 escapeloop:
 259         pthread_join(rt, NULL);
 260         pthread_join(gt, NULL);
 261         float nodo = ((float) ndl / (float) tol);
 262         std::cerr << "nothing done is " << 100.0 * nodo;
 263         std::cerr << "%" << std::endl;
 264         //std::cerr << "rgf is " << p.p_root_.goal_found() << std::endl;
 265         //std::cerr << "ggf is " << p.p_goal_.goal_found() << std::endl;
 266         //std::cerr << "cgf is " << p.goal_found() << std::endl;
 267         if (p.p_root_.goal_found() && p.p_root_.goal()->ccost() < mc) {
 268                 ron = p.p_root_.goal()->parent();
 269                 gon = p.p_root_.goal();
 270                 mc = p.p_root_.goal()->ccost();
 271         }
 272         if (p.p_goal_.goal_found() && p.p_goal_.goal()->ccost() < mc) {
 273                 ron = p.p_goal_.goal();
 274                 gon = p.p_goal_.goal()->parent();
 275                 mc = p.p_goal_.goal()->ccost();
 276         }
 277         p.root()->remove_parent();  // needed if p.p_goal_.goal_found()
 278         p.root()->ccost(0);
 279         p.goal()->children().clear();
 280         // connect trees
 281         if (gf) {
 282         while (gon != p.goal()) {
 283                 p.p_root_.nodes().push_back(new RRTNode(
 284                                 gon->x(),
 285                                 gon->y(),
 286                                 gon->h()));
 287                 ron->add_child(
 288                                 p.p_root_.nodes().back(),
 289                                 p.p_root_.cost(
 290                                                 ron,
 291                                                 p.p_root_.nodes().back()));
 292                 ron = p.p_root_.nodes().back();
 293                 gon = gon->parent();
 294         }
 295         ron->add_child(p.goal(), p.p_root_.cost(ron, p.goal()));
 296         }
 297         // end of connect trees
 298         if (gf)
 299                 p.tlog(p.findt());
 300         if (p.opt_path())
 301                 p.tlog(p.findt());
 302 #endif
 303 #ifdef JSONLOGEDGES
 304         p.logr(p.root());
 305 #endif
 306
 307         // statistics to error output
 308         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
 309         std::cerr << "Goal found is " << p.goal_found() << std::endl;
 310         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
 311         std::cerr << "#samples is " << p.samples().size() << std::endl;
 312         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
 313         std::cerr << "trajectories costs:" << std::endl;
 314         for (j = 0; j < p.clog().size(); j++)
 315                 std::cerr << "- " << p.clog()[j] << std::endl;
 316         std::cerr << "RRT #nodes:" << std::endl;
 317         for (j = 0; j < p.nlog().size(); j++)
 318                 std::cerr << "- " << p.nlog()[j] << std::endl;
 319         std::cerr << "trajectories seconds:" << std::endl;
 320         for (j = 0; j < p.slog().size(); j++)
 321                 std::cerr << "- " << p.slog()[j] << std::endl;
 322         std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
 323         std::cerr << std::endl;
 324         for (auto edges: p.rlog())
 325                 std::cerr << "- " << edges.size() << std::endl;
 326
 327         // JSON output
 328         jvo["elap"] = p.elapsed();
 329 #ifdef USE_PTHREAD
 330         jvo["nodo"][0] = nodo;
 331 #endif
 332         // log cost
 333         for (j = 0; j < p.clog().size(); j++)
 334                 jvo["cost"][j] = p.clog()[j];
 335         // log #nodes
 336         for (j = 0; j < p.nlog().size(); j++)
 337                 jvo["node"][j] = p.nlog()[j];
 338         // log seconds
 339         for (j = 0; j < p.slog().size(); j++)
 340                 jvo["secs"][j] = p.slog()[j];
 341         // log traj
 342         i = 0;
 343         j = 0;
 344         for (auto traj: p.tlog()) {
 345                 i = 0;
 346                 for (auto n: traj) {
 347                         jvo["traj"][j][i][0] = n->x();
 348                         jvo["traj"][j][i][1] = n->y();
 349                         jvo["traj"][j][i][2] = n->h();
 350                         jvo["traj"][j][i][3] = n->t();
 351                         jvo["traj"][j][i][4] = n->s();
 352                         i++;
 353                 }
 354                 j++;
 355         }
 356 #ifdef JSONLOGEDGES
 357         i = 0;
 358         j = 0;
 359         for (auto edges: p.rlog()) {
 360                 j = 0;
 361                 for (auto e: edges) {
 362                         jvo["edge"][i][j][0][0] = e->init()->x();
 363                         jvo["edge"][i][j][0][1] = e->init()->y();
 364                         jvo["edge"][i][j][0][2] = e->init()->h();
 365                         jvo["edge"][i][j][1][0] = e->goal()->x();
 366                         jvo["edge"][i][j][1][1] = e->goal()->y();
 367                         jvo["edge"][i][j][1][2] = e->goal()->h();
 368                         j++;
 369                 }
 370                 i++;
 371         }
 372 #endif
 373 #ifdef JSONLOGSAMPLES
 374         i = 0;
 375         j = 0;
 376         for (auto s: p.samples()) {
 377                 jvo["samp"][j][0] = s->x();
 378                 jvo["samp"][j][1] = s->y();
 379                 jvo["samp"][j][2] = s->h();
 380                 j++;
 381         }
 382 #endif
 383         // print output
 384         std::cout << jvo << std::endl;
 385
 386 #ifdef USE_GL
 387         SDL_DestroyWindow(gw);
 388         SDL_Quit();
 389 #endif
 390
 391         // free mem
 392         for (auto o: so) {
 393                 delete o.init();
 394                 delete o.goal();
 395         }
 396         return 0;
 397 }
 398
 399 bool init()
 400 {
 401         if (SDL_Init(SDL_INIT_VIDEO) < 0) {
 402                 std::cerr << "SDL could not initialize! SDL_Error: ";
 403                 std::cerr << SDL_GetError();
 404                 std::cerr << std::endl;
 405                 return false;
 406         }
 407         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 2);
 408         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 1);
 409         gw = SDL_CreateWindow(
 410                         "I am car",
 411                         SDL_WINDOWPOS_UNDEFINED,
 412                         SDL_WINDOWPOS_UNDEFINED,
 413                         SCREEN_WIDTH,
 414                         SCREEN_HEIGHT,
 415                         SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN);
 416         if (gw == NULL) {
 417                 std::cerr << "Window could not be created! SDL_Error: ";
 418                 std::cerr << SDL_GetError();
 419                 std::cerr << std::endl;
 420                 return false;
 421         }
 422         gc = SDL_GL_CreateContext(gw);
 423         if (gc == NULL) {
 424                 std::cerr << "OpenGL context couldn't be created! SDL Error: ";
 425                 std::cerr << SDL_GetError();
 426                 std::cerr << std::endl;
 427                 return false;
 428         }
 429         if (SDL_GL_SetSwapInterval(1) < 0) {
 430                 std::cerr << "Warning: Unable to set VSync! SDL Error: ";
 431                 std::cerr << SDL_GetError();
 432                 std::cerr << std::endl;
 433                 return false;
 434         }
 435         if (!initGL()) {
 436                 std::cerr << "Unable to initialize OpenGL!";
 437                 std::cerr << std::endl;
 438                 return false;
 439         }
 440         return true;
 441 }
 442
 443 bool initGL()
 444 {
 445         GLenum error = GL_NO_ERROR;
 446         glMatrixMode(GL_PROJECTION);
 447         glLoadIdentity();
 448         error = glGetError();
 449         if (error != GL_NO_ERROR) {
 450                 std::cerr << "Error initializing OpenGL! ";
 451                 std::cerr << gluErrorString(error);
 452                 std::cerr << std::endl;
 453                 return false;
 454         }
 455         glMatrixMode(GL_MODELVIEW);
 456         glLoadIdentity();
 457         error = glGetError();
 458         if (error != GL_NO_ERROR) {
 459                 std::cerr << "Error initializing OpenGL! ";
 460                 std::cerr << gluErrorString(error);
 461                 std::cerr << std::endl;
 462                 return false;
 463         }
 464         glClearColor(1, 1, 1, 1);
 465         error = glGetError();
 466         if (error != GL_NO_ERROR) {
 467                 std::cerr << "Error initializing OpenGL! ";
 468                 std::cerr << gluErrorString(error);
 469                 std::cerr << std::endl;
 470                 return false;
 471         }
 472         return true;
 473 }